A first embodiment includes a circuit based unmanned aerial vehicle (UAV) including at least one enclosed air duct vertical z-force circuit, at least one enclosed air duct lateral y-force circuit, and at least one enclosed air duct longitudinal x-force circuit whereby each circuit includes a plurality of fans within respective fan tunnels and a plurality of rotational cylinders within archways. The UAV utilizes a magnus effect at strategic points along each respective circuit to apply navigational force thereon.
A second embodiment includes a circuit based unmanned aerial vehicle (UAV) including a first and second air duct circuit joined at a medial trunk. Each circuit includes a plurality of fans within respective fan tunnels and a plurality of rotational cylinders within archways. The second embodiment also utilizes the magnus effect at strategic points along each respective circuit to apply navigational force thereon.
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15. A circuit based unmanned aerial vehicle (UAV) comprising
a front, rear, first side, and second side;
a first enclosed air duct circuit comprising
a cross-duct at the front with a horizontal archway and triple vertical cylinders therein,
a cross-duct at the rear with a horizontal archway and triple vertical cylinders therein, and
an arm duct comprising
a medial vertical archway with a pair of horizontal cylinders therein,
two horizontal archways each with a pair of vertical cylinders therein,
a plurality of fan tunnels with fans therein flanking the medial vertical archway and flanking each of the two horizontal archways;
a second enclosed air duct circuit comprising
a cross-duct at the front with a horizontal archway,
a cross-duct at the rear with a horizontal archway, and
an arm duct comprising
a medial vertical archway with a pair of horizontal cylinders therein,
two horizontal archways each with a pair of vertical cylinders therein,
a plurality of fan tunnels with fans therein flanking the medial vertical archway and flanking each of the two horizontal archways;
a medial trunk comprising
a plurality of vertical double archways with triple horizontal cylinders,
a plurality of twin duct tunnel assemblies flanking the vertical double archways with triple horizontal cylinders; and
a heat exchanger;
wherein the medial trunk joins the first enclosed air duct circuit and the second enclosed air duct circuit; and
wherein the first side of the first enclosed air duct circuit comprises the first side of the UAV and the second side of the second enclosed air duct circuit comprises the second side of the UAV.
1. A circuit based unmanned aerial vehicle (UAV) comprising
at least one enclosed air duct circuit, defined as a vertical z-force circuit, comprising
a plurality of horizontally oriented rotational cylinders within respective vertically oriented archways positioned at a front and rear of the vertical z-force circuit;
a plurality of fans within respective fan tunnels positioned at a left and right side of the vertical z-force circuit;
at least one enclosed air duct circuit, defined as a lateral y-force circuit, comprising
a plurality of vertically oriented rotational cylinders within respective horizontally oriented archways positioned at a left and right side of the lateral y-force circuit;
a plurality of fans within respective fan tunnels positioned at a front and rear of the lateral y-force circuit;
at least one enclosed air duct circuit, defined as a longitudinal x-force circuit, comprising
a plurality of vertically oriented rotational cylinders within respective horizontally oriented archways positioned at a front and rear of the longitudinal x-force circuit;
a plurality of fans within respective fan tunnels positioned at a left and right side of the longitudinal x-force circuit; and
a control unit;
wherein the vertical z-force circuit, the lateral y-force circuit, and the longitudinal x-force circuit align vertically with respect to each other;
wherein the left and right rotational cylinders and their respective archways within the lateral y-force circuit are offset from each other; and
wherein the front and rear rotational cylinders and their respective archways within the longitudinal x-force circuit are offset from each other.
8. A circuit based unmanned aerial vehicle (UAV) comprising
a plurality of control units;
a plurality of enclosed air duct circuits, defined as vertical z-force circuits, comprising
a plurality of horizontally oriented rotational cylinders within vertically oriented archways positioned at a front and rear of each vertical z-force circuit;
a plurality of fans within respective fan tunnels positioned at a left and right side of each vertical z-force circuit;
a plurality of enclosed air duct circuits, defined as lateral y-force circuits, comprising
a plurality of vertically oriented rotational cylinders within horizontally oriented archways positioned at a left and right side of each lateral y-force circuit;
a plurality of fans within respective fan tunnels positioned at a front and rear of each lateral y-force circuit;
a plurality of enclosed air duct circuits, defined as longitudinal x-force circuits, comprising
a plurality of vertically oriented rotational cylinders within horizontally oriented archways positioned at a front and rear of each longitudinal x-force circuit;
a plurality of fans within fan tunnels positioned at a left and right side of each longitudinal x-force circuits; and
wherein the rotational cylinders and their respective archways on the left and right side of the lateral y-force circuits are offset from each other;
wherein the rotational cylinders and their respective archways at the front and rear of the longitudinal x-force circuits are offset from each other;
wherein a single vertical z-force circuit, a single lateral y-force circuit, and a single longitudinal x-force circuit each align vertically with respect to each other to form a cell; and
wherein the UAV is configurable to be formed from pairs of removably attached cells structured to navigate and transport packaging in tandem.
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The present invention relates to systems and methods for unmanned aerial vehicles (UAVs). In particular, the present invention relates to structural and functional improvements to UAVs and associated methods.
The future of Unmanned Aerial Vehicles (UAVs) gives consumers a convenient means to receive home and business deliveries directly to their doorstep. Furthermore, systemic use of UAV deliveries can help provide a contactless method to prevent the spread of infectious diseases.
However, current UAV designs use a variety of methods that are unsafe for close public interaction. These include the use of propellers that expose the public to injury from contact with the blades. They also include the use of turbine or rocket type propulsion that could expose the public to unintended eruptions and burns.
There exists a need in the art for a UAV that can safely come in close contact with members of the public for package delivery and interaction. Therefore, there exists a need for a circuit-based UAV.
Embodiments of the present invention are related to a circuit based unmanned aerial vehicle (UAV) including at least one enclosed air duct circuit, defined as a vertical z-force circuit, with a plurality of horizontally oriented rotational cylinders within respective vertically oriented archways positioned at a front and rear of the vertical z-force circuit, and a plurality of fans within respective fan tunnels positioned at a left and right side of the vertical z-force circuit.
Also included may be at least one enclosed air duct circuit, defined as a lateral y-force circuit, with a plurality of vertically oriented rotational cylinders within respective horizontally oriented archways positioned at a left and right side of the lateral y-force circuit, and a plurality of fans within respective fan tunnels positioned at a front and rear of the lateral y-force circuit.
Further included may be at least one enclosed air duct circuit, defined as a longitudinal x-force circuit with a plurality of vertically oriented rotational cylinders within respective horizontally oriented archways positioned at a front and rear of the longitudinal x-force circuit, and a plurality of fans within respective fan tunnels positioned at a left and right side of the longitudinal x-force circuit.
The circuit based unmanned aerial vehicle (UAV) may further include a control unit. Additionally, the vertical z-force circuit, the lateral y-force circuit, and the longitudinal x-force circuit may align vertically with respect to each other. The left and right rotational cylinders and their respective archways within the lateral y-force circuit may be offset from each other and the front and rear rotational cylinders and their respective archways within the lateral y-force circuit may be offset from each other.
In this embodiment, the fans may be configured to generate airflow through the vertical z-force circuit, lateral y-force circuit, and longitudinal x-force circuit to create directional forces operable to navigate the UAV. The vertical z-force circuit may be structured to navigate the UAV vertically by controlling the rotational direction of the horizontal cylinders. The lateral y-force circuit may be structured to navigate the UAV horizontally by controlling the rotational direction of the vertical cylinders and the longitudinal x-force circuit may be structured to create positive and negative thrust by controlling the rotational direction of the vertical cylinders.
This embodiment may have horizontally oriented archways structured as horizontal bell curve swells around the vertical cylinders and the vertically oriented archways may be structured as vertical bell curve swells oriented overtop and underneath the horizontal cylinders.
Another embodiment of the invention may include a circuit based unmanned aerial vehicle (UAV) with a plurality of control units. It may also include a plurality of enclosed air duct circuits, defined as vertical z-force circuits, with a plurality of horizontally oriented rotational cylinders within vertically oriented archways positioned at a front and rear of each vertical z-force circuit, and a plurality of fans within respective fan tunnels positioned at a left and right side of each vertical z-force circuit.
Also included may be a plurality of enclosed air duct circuits, defined as lateral y-force circuits, with a plurality of vertically oriented rotational cylinders within horizontally oriented archways positioned at a left and right side of each lateral y-force circuit, and a plurality of fans within respective fan tunnels positioned at a front and rear of each lateral y-force circuit.
Further included may be a plurality of enclosed air duct circuits, defined as longitudinal x-force circuits, with a plurality of vertically oriented rotational cylinders within horizontally oriented archways positioned at a front and rear of each longitudinal x-force circuit and a plurality of fans within fan tunnels positioned at a left and right side of each longitudinal x-force circuits.
The rotational cylinders and their respective archways on the left and right side of the lateral y-force circuits may be offset from each other and the rotational cylinders and their respective archways at the front and rear of the lateral y-force circuits may be offset from each other. Furthermore, a single vertical z-force circuit, a single lateral y-force circuit, and a single longitudinal x-force circuit may each align vertically with respect to each other to form a cell. In this embodiment, the UAV may be structured from pairs of removably attached cells structured to navigate and transport packaging in tandem.
In this embodiment, the UAV may be structured to double its payload capacity by doubling the amount of removably attached cell pairs. Furthermore, the fans may be structured to generate airflow through the vertical z-force circuits, lateral y-force circuits, and longitudinal x-force circuits to create directional forces operable to navigate the UAV.
The vertical z-force circuits may be structured to navigate the UAV vertically by controlling the rotational direction of the horizontal cylinders. The lateral y-force circuits may be structured to navigate the UAV horizontally by controlling the rotational direction of the vertical cylinders and the longitudinal x-force circuits may be structured to create positive and negative thrust by controlling the rotational direction of the vertical cylinders. In this embodiment, the vertical z-force circuits, the lateral y-force circuits, and the longitudinal x-force circuits may be asymmetrically positioned to accommodate irregular payloads and irregular flight conditions.
Another embodiment of the invention may include a circuit based unmanned aerial vehicle (UAV) with a front, rear, first side, and second side. It may have a first enclosed air duct circuit with a cross-duct at the front with a horizontal archway and triple vertical cylinders therein. The first enclosed air duct circuit may also include a cross-duct at the rear with a horizontal archway and triple vertical cylinders therein as well as an arm duct including a medial vertical archway with a pair of horizontal cylinders therein, two horizontal archways each with a pair of vertical cylinders therein, and a plurality of fan tunnels with fans therein flanking the medial vertical archway and flanking each of the two horizontal archways.
This embodiment may also include a second enclosed air duct circuit with a cross-duct at the front with a horizontal archway, a cross-duct at the rear with a horizontal archway, and an arm duct comprising a medial vertical archway with a pair of horizontal cylinders therein, two horizontal archways each with a pair of vertical cylinders therein, and a plurality of fan tunnels with fans therein flanking the medial vertical archway and flanking each of the two horizontal archways.
Further included in this embodiment may be a medial trunk with a plurality of vertical double archways with triple horizontal cylinders, a plurality of twin duct tunnel assemblies flanking the vertical double archways with triple horizontal cylinders, and a heat exchanger. The medial trunk may join the first enclosed air duct circuit and the second enclosed air duct circuit. Additionally, the first side of the first enclosed air duct circuit may include the first side of the UAV and the second side of the second enclosed air duct circuit may include the second side of the UAV.
In this embodiment, the first enclosed air duct circuit may be structured to direct airflow in an opposite direction than the second enclosed air duct circuit. Additionally, the medial vertical archway with horizontal cylinders may be positioned between the two horizontal archways with vertical cylinders. The triple horizontal cylinders and the pair of horizontal cylinders may include a cylinder ramp at one end and an opposing semi-oval end and may be structured to provide trim lift and roll control.
Furthermore, the pairs of vertical cylinders may include a sideways cylinder ramp tapering at one side and may be structured to provide bidirectional force for lateral movement, balance and yaw control. In this embodiment, the UAV may include a plurality of slidable air vents removably attached to their respective elongate fan ducts structured to allow external air to flow into the elongate fan to facilitate UAV navigation.
The present invention will now be described in detail with reference to the accompanying drawings. The embodiment descriptions are illustrative and not intended to be limiting in any way. Other embodiments of the invention will readily suggest themselves to persons with ordinary skill in the art after having the benefit of this disclosure. Accordingly, the following embodiments are set forth without any loss of generality and without imposing limitation upon the claimed invention.
Directional terms such as “above” “below” “upper” “lower” and other like terms are used for the convenience of the reader in reference to the drawings. Additionally, the description may contain terminology to convey position, orientation, and direction without departing from the principles of the present invention. Such positional language should be taken in context of the represented drawings.
Quantitative terms such as “generally” “substantially” “mostly” and other like terms are used to mean that the referred object, characteristic, or quality constitutes a majority of the referenced subject. Likewise, use of the terms such as first and second do not necessarily designate a limitation of quantity. Such terms may be used as a method of describing the presence of at least one of the referenced elements or may provide a means of differentiating orientation. The meaning of any term within this description is dependent upon the context within which it is used, and the meaning may be expressly modified.
Higher velocity and lower pressure are associated with the compacted streamlines 207 above the upper surface 203 of the rotating cylinder 201 relative to the lower surface 209 of the rotating cylinder 201. This may cause a pressure differential between the upper surface 203 and lower surface 209. The resulting lift force 205 to the entire rotating cylinder 201 may be estimated with the magnus effect. Should the rotating cylinder 201 reverse its spin direction 202 such that the lower surface 209 moves with the airflow field 204, the lift force 205 reverses, creating negative lift or downward force as oriented in
The vertical z-force lift circuit 300 may include a plurality of horizontally oriented rotational cylinders 201, defined as horizontal cylinders 301. The horizontal cylinders 301 may be medially located within the air duct 304 at opposing sides. As shown, one horizontal cylinder 301 may be positioned medially within the front 307 of the vertical z-force lift circuit 300 and one horizontal cylinder 301 may be positioned medially within the rear 308 of the vertical z-force lift circuit 300. Furthermore, the enclosed air duct 304 system may also include a plurality of fans 302 positioned on opposing sides adjacent the horizontal cylinders 301. As shown, one fan 302 may be positioned medially within the first side 311 of the vertical z-force lift circuit 300 and one fan 302 may be positioned medially within the second side 312 of the vertical z-force lift circuit 300.
The fans 302 may generate airflow 303 through the air duct 304 and over the horizontal cylinders 301. As depicted, airflow 303 is moving in a counter clockwise direction and circulating through the enclosed air duct 304 system and around the vertical z-force lift circuit 300. Depending on the direction each horizontal cylinder 301 is being rotated, positive or negative lift force 305 may be generated causing that portion of the vertical z-force lift circuit 300 to either ascend or descend. If working in unison, the entire vertical z-force lift circuit 300 may ascend or descend. If working separately, rotational pitch movement 306 may be generated depending on the spin direction 202 of the horizontal cylinders 301. In some embodiments, the direction of the airflow 303 via the fans 302 rather than the spin direction 202 of the horizontal cylinders 301 may be reversed to create positive or negative lift 305.
The elongate fan tunnels 315 may be cylindrical air ducts 304 on the first and second sides 311, 312 that surround the fans 302. The elongate fan tunnels 315 may direct airflow 303 along the first and second sides 311, 312 around corner portions of the vertical z-force lift circuit 300 toward each vertical archway 309.
The vertical archways 309 may be undulated portions of the air duct 304 creating a bell curve swell overtop and underneath the horizontal cylinders 301. Therefore, the highest point of the bell curve may correspond to a midpoint of the horizontal cylinder 301 longitudinal axis. Additionally, the vertical archways 309 may include tapered ends that align with the rest of their respective air ducts 304 running generally perpendicular to the longitudinal axes of the horizontal cylinders 301. As shown, both positive and negative lift force 305 may be generated at the vertical archways 309 to enable the entire vertical z-force lift circuit 300 to ascend, descend, or rotationally pitch 306.
The lateral y-force circuit 400 may include a plurality of vertically oriented rotational cylinders 201, defined as vertical cylinders 401. The vertical cylinders 401 may be located within the air duct 404 at opposing sides. As shown, one vertical cylinder 401 may be positioned within the first side 311 of the lateral y-force circuit 400 and one vertical cylinder 401 may be positioned within the second side 312 of the lateral y-force circuit 400. Furthermore, the enclosed air duct 404 system may also include a plurality of fans 302 positioned on opposing sides adjacent the vertical cylinders 401. As shown, one fan 302 may be positioned medially within the front 307 of the lateral y-force circuit 400 and one fan 302 may be positioned medially within the rear 308 of the lateral y-force circuit 300.
The fans 302 may generate airflow 303 through the air duct 404 and around the vertical cylinders 401. As depicted, airflow 303 is moving in a counter clockwise direction and circulating through the enclosed air duct 404 system and around the lateral y-force circuit 400. Depending on the direction each vertical cylinder 401 is being rotated, positive or negative lateral force 405 may be generated causing that portion of the lateral y-force circuit 400 to move right or left. If working in unison, the entire lateral y-force circuit 400 may move in the positive or negative y-direction.
By way of non-limiting example, the lateral y-force circuit 400 may be used to steady the UAV 100 in the presence of a lateral wind by moving contra thereto. By reversing the spin direction 202 of the vertical cylinders 401 as opposed to reversing the direction of the airflow 303, the lateral y-force circuit 400 may quickly respond to changing external conditions.
The elongate fan tunnels 315 of the lateral y-force circuit 400 may be cylindrical air ducts 304 on the front and rear 307, 308 that surround the fans 302. The elongate fan tunnels 315 may direct airflow 303 along the front and rear 307, 308 and around corner portions of the lateral y-force circuit 400 toward each horizontal archway 409.
The horizontal archways 409 may be curved portions of the air ducts 404 extending horizontally from the first and second sides 311, 312 creating a horizontal bell curve swell around the vertical cylinders 401. Therefore, when viewing the UAV 100 from above as in
The longitudinal x-force circuit 500 may include a plurality of vertically oriented rotational cylinders 201, defined as vertical cylinders 501. The vertical cylinders 501 may be located within the air duct 504 system at opposing sides. As shown, one vertical cylinder 501 may be positioned within the front 307 of the longitudinal x-force circuit 500 and one vertical cylinder 501 may be positioned within the rear 308 of the longitudinal x-force circuit 500. Furthermore, the enclosed air duct 504 system may also include a plurality of fans 302 positioned on opposing sides adjacent the vertical cylinders 501. As shown, one fan 302 may be positioned within the first side 311 of the longitudinal x-force circuit 500 and one fan 302 may be positioned within the second side 312 of the longitudinal x-force circuit 500.
The fans 302 may generate airflow 303 through the air duct 504 and around the vertical cylinders 501. As depicted, airflow 303 is moving in a counter clockwise direction and circulating through the enclosed air duct 504 system and around the longitudinal x-force circuit 500. Depending on the direction each vertical cylinder 501 is being rotated, positive or negative longitudinal force 506, or thrust 506, may be generated causing that portion of the longitudinal x-force circuit 500 to move forward or backward. If working in unison, the entire longitudinal x-force circuit 500 may move in the x-direction. This circuit may provide the primary directional thrust 506, but also may hold the position of the UAV 100 in the presence of a head wind.
The elongate fan tunnels 315 of the longitudinal x-force circuit 500 may be cylindrical air ducts 304 on the first and second sides 311, 312 that surround the fans 302. The elongate fan tunnels 315 may direct airflow 303 along the first and second sides 311, 312 and around corner portions of the longitudinal x-force circuit 500 toward each horizontal archway 509.
The horizontal archways 509 may be curved portions of the air ducts 504 extending horizontally from the front and rear 307, 308 creating a horizontal bell curve swell around the vertical cylinders 501. Therefore, when viewing the UAV 100 from above as in
Although depicted in a particular stacked order, one skilled in the art will appreciate that some variations of the circuit positioning may be apparent depending on need, circumstance and preference. By way of non-limiting example, the bottom circuits 601a, 601b may be switched with the middle circuits 602a, 602b. In other embodiments, one circuit, for example 601a, may be switched with another level of circuit, for example 602a, to provide varied or unlevel flight patterns as in the case with an awkwardly shaped package or unevenly weighted package.
The same structural logic used for the double cell vehicle 102 may apply to a quad cell vehicle 104. In particular, the bottom circuits 601a-d may be lateral y-force circuits 400 providing lateral force 405 to the quad cell vehicle 104. The middle circuits 602a-d may be longitudinal x-force circuits 500 providing thrust force 506 to the double cell vehicle 102, and the top circuits 603a-d may be vertical circuits 300 providing lift force 305 to the quad cell vehicle 104.
Although depicted in a particular stacked order, one skilled in the art will appreciate that some variations of the circuit positioning may be apparent depending on need, circumstance and preference. By way of non-limiting example, the bottom circuits 601a-d may be switched with the middle circuits 602a-d. In other embodiments, one circuit, for example 601a, may be switched with another level of circuit, for example 602a, to provide varied or unlevel flight patterns as in the case with an awkwardly shaped package or unevenly weighted package.
At the first side 1211 and second side 1212 may be a first and second arm duct 1311, 1312 respectively. The arm ducts 1311, 1312 may include two horizontal archways 1309, one proximate the front 1203 and one proximate the rear 1204. These archways may flank a medial vertical archway 1206. Furthermore, the medial trunk 1205 may include a medial duct 1305 extending from the front 1203 to the rear 1204. Before and after each archway on the medial duct 1305 may be twin duct tunnel assemblies 1255. Before and after each archway on the first and second arm ducts 1311, 1312 may be elongate fan ducts 1230.
The cross ducts 1303, medial duct 1305, and first arm duct 1311 may direct airflow 303 in a clockwise direction within the first circuit 1201. Likewise, the cross ducts 1303, medial duct 1305, and second arm duct 1312 may direct airflow 303 in a counter-clockwise direction within the second circuit 1201. However, one skilled in the art will appreciate that the double circuit vehicle 1200 may be structured to allow the direction of airflow 303 to be directed clockwise in the second circuit 1202 and counter-clockwise in the first circuit 1201 depending on need, circumstance and preference.
Within the horizontal archways 1309 of the first and second arm ducts 1311, 1312 may be pairs of vertical cylinders 1402. The pairs of vertical cylinders 1402 may be positioned so that their longitudinal axes are vertically oriented with respect to the UAV 100 yet parallel to each other. Furthermore, they may be in alignment with the longitudinal axes of the first and second arm ducts 1311, 1312, or in other words, aligned parallel to the x-axis of the double circuit vehicle 1200.
Additionally, the front 1203 and rear 1204 cross ducts 1303 may include triple vertical cylinders 1401. These may be positioned so that their longitudinal axes are parallel to each other but vertical with respect to the UAV 100 placing them generally aligned to the longitudinal axis of the front 1203 and rear 1204 cross ducts 1303.
Within the vertical archways 1206 of the first and second arm ducts 1311, 1312 may be pairs of horizontal cylinders 1405. The horizontal cylinders 1405 may be positioned so that their longitudinal axes are parallel to each other but horizontal with respect to the UAV 100 placing them generally perpendicular to the longitudinal axes of the first and second arm ducts 1311, 1312.
The medial duct 1305 may include triple horizontal cylinders 1403. These may be positioned so that their longitudinal axes are parallel to each other but horizontal with respect to the UAV 100 placing them generally perpendicular to the longitudinal axis of the medial duct 1305.
Dual fans 1412 may be utilized within the medial duct 1305 at positions both before and after the triple horizontal cylinders 1403. Double fans 1412 may be two fans positioned side-by-side so that their airflow 303 is directed through the medial duct from front 1203 to rear 1204.
Similar to the triple horizontal cylinders 1405, the pair of horizontal cylinders 1405 may include a cylinder ramp 1501 at one end and an opposing semi-oval end 1502 at another. The horizontal cylinders 1405 are enclosed by a vertical archway 1206 and may provide trim lift and roll control 1428.
The pair of vertical cylinders 1402 may include a sideways cylinder ramp 1511 and a sideways semi-oval end 1512. The sideways cylinder ramp 1511 may taper from one side of the pair of vertical cylinders 1402 to another side. A horizontal archway 1309 may enclose the entire pair of vertical cylinders 1402, which may provide bidirectional force for lateral movement, balancing and yaw control.
The slidable air vents 1650 may stabilize the double circuit vehicle 1200 along all axes by achieving an optimal balance between duct airflow speed and the spin rate of all of the cylinders. Airflow conditions (pressure, velocity, temperature) may vary throughout the first and second circuits 1201, 1202 requiring localized venting to avoid flow reversal or stalls. The slidable air vents 1650 may allow airflow 303 to enter or exit to pneumatically rebalance the air pressure, temperature, and velocity throughout the respective circuit 1201, 1202.
As illustrated, the medial duct 1305 may contain two main lifting cylinder assemblies 1403 that generate the bulk of the vehicle lift FZ 1425 and are unidirectional force generators. The forward and aft units can vary the cylinder rotational speeds and lift force FZ independently to create a pitch moment, MY
Moreover, the two bidirectional lateral force cylinder assemblies of the first and second arm ducts 1311, 1312 may generate side propulsion FY to allow lateral movement 1427 or steady the vehicle against lateral winds. The four units in the first and second arm ducts 1311, 1312 may also create a moment MZ about the z-axis for yaw control. These units may also provide additional roll control if the center of gravity is located above the double circuit vehicle 1200.
As previously mentioned, the four cross ducts 1303 may each contain bidirectional longitudinal force cylinder assemblies to generate forward and aft propulsion FX. These units may also contribute moments MZ about the z-axis, providing additional yaw control. These units may also provide additional pitch control if the center of gravity is located above the double circuit vehicle 1200.
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